text: /*********************************************************************
  * Software License Agreement (BSD License)
  *
  *  Copyright (c) 2008, Willow Garage, Inc.
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
  *  modification, are permitted provided that the following conditions
  *  are met:
  *
  *   * Redistributions of source code must retain the above copyright
  *     notice, this list of conditions and the following disclaimer.
  *   * Redistributions in binary form must reproduce the above
  *     copyright notice, this list of conditions and the following
  *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
  *   * Neither the name of the Willow Garage nor the names of its
  *     contributors may be used to endorse or promote products derived
  *     from this software without specific prior written permission.
  *
  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
  
  /* Author: Ioan Sucan */
  
  #include <moveit/robot_model/prismatic_joint_model.h>
  #include <limits>
  
  namespace moveit
  {
  namespace core
  {
  PrismaticJointModel::PrismaticJointModel(const std::string& name) : JointModel(name), axis_(0.0, 0.0, 0.0)
  {
    type_ = PRISMATIC;
    variable_names_.push_back(name_);
    variable_bounds_.resize(1);
    variable_bounds_[0].position_bounded_ = true;
    variable_bounds_[0].min_position_ = -std::numeric_limits<double>::max();
    variable_bounds_[0].max_position_ = std::numeric_limits<double>::max();
    variable_index_map_[name_] = 0;
    computeVariableBoundsMsg();
  }
  
  unsigned int PrismaticJointModel::getStateSpaceDimension() const
  {
    return 1;
  }
  
  double PrismaticJointModel::getMaximumExtent(const Bounds& other_bounds) const
  {
    return variable_bounds_[0].max_position_ - other_bounds[0].min_position_;
  }
  
  void PrismaticJointModel::getVariableDefaultPositions(double* values, const Bounds& bounds) const
  {
    // if zero is a valid value
    if (bounds[0].min_position_ <= 0.0 && bounds[0].max_position_ >= 0.0)
      values[0] = 0.0;
    else
      values[0] = (bounds[0].min_position_ + bounds[0].max_position_) / 2.0;
  }
  
  bool PrismaticJointModel::satisfiesPositionBounds(const double* values, const Bounds& bounds, double margin) const
  {
    return !(values[0] < bounds[0].min_position_ - margin || values[0] > bounds[0].max_position_ + margin);
  }
  
  void PrismaticJointModel::getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values,
                                                       const Bounds& bounds) const
  {
    values[0] = rng.uniformReal(bounds[0].min_position_, bounds[0].max_position_);
  }
  
  void PrismaticJointModel::getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng, double* values,
                                                             const Bounds& bounds, const double* near,
                                                             const double distance) const
  {
    values[0] = rng.uniformReal(std::max(bounds[0].min_position_, near[0] - distance),
                                std::min(bounds[0].max_position_, near[0] + distance));
  }
  
  bool PrismaticJointModel::enforcePositionBounds(double* values, const Bounds& bounds) const
  {
    if (values[0] < bounds[0].min_position_)
    {
      values[0] = bounds[0].min_position_;
      return true;
    }
    else if (values[0] > bounds[0].max_position_)
    {
      values[0] = bounds[0].max_position_;
      return true;
    }
    return false;
  }
  
  double PrismaticJointModel::distance(const double* values1, const double* values2) const
  {
    return fabs(values1[0] - values2[0]);
  }
  
  void PrismaticJointModel::interpolate(const double* from, const double* to, const double t, double* state) const
  {
    state[0] = from[0] + (to[0] - from[0]) * t;
  }
  
  void PrismaticJointModel::computeTransform(const double* joint_values, Eigen::Affine3d& transf) const
  {
    double* d = transf.data();
    d[0] = 1.0;
    d[1] = 0.0;
    d[2] = 0.0;
    d[3] = 0.0;
  
    d[4] = 0.0;
    d[5] = 1.0;
    d[6] = 0.0;
    d[7] = 0.0;
  
    d[8] = 0.0;
    d[9] = 0.0;
    d[10] = 1.0;
    d[11] = 0.0;
  
    d[12] = axis_.x() * joint_values[0];
    d[13] = axis_.y() * joint_values[0];
    d[14] = axis_.z() * joint_values[0];
    d[15] = 1.0;
  
    //  transf.setIdentity();
    //  transf.translation() = Eigen::Vector3d(axis_ * joint_values[0]);
  }
  
  void PrismaticJointModel::computeVariablePositions(const Eigen::Affine3d& transf, double* joint_values) const
  {
    joint_values[0] = transf.translation().dot(axis_);
  }
  
  }  // end of namespace core
  }  // end of namespace moveit